CN107719360B - The sensitivity compensation method of parking assisting system - Google Patents
The sensitivity compensation method of parking assisting system Download PDFInfo
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- CN107719360B CN107719360B CN201710865290.XA CN201710865290A CN107719360B CN 107719360 B CN107719360 B CN 107719360B CN 201710865290 A CN201710865290 A CN 201710865290A CN 107719360 B CN107719360 B CN 107719360B
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- Prior art keywords
- temperature
- sensitivity
- echo gain
- temperature curve
- compensation factor
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units, or advanced driver assistance systems for ensuring comfort, stability and safety or drive control systems for propelling or retarding the vehicle
- B60W30/06—Automatic manoeuvring for parking
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/0098—Details of control systems ensuring comfort, safety or stability not otherwise provided for
Abstract
The invention discloses a kind of sensitivity compensation method of parking assisting system, A, the sensitivity data that acquisition ultrasonic sensor changes with temperature in advance obtain conventional sensitivity-temperature curve；B, with the variation of temperature, ideal echo gain remains constant, obtains ideal echo gain-temperature curve ultrasonic sensor；C, conventional sensitivity-temperature curve and ideal echo gain-temperature curve are subjected to analysis comparison, the echo gain compensation factor at a temperature of varying environment is calculated, obtains echo gain compensation factor-temperature curve；D, in practical application, the operating temperature that temperature sensor acquires ultrasonic sensor in real time is transferred to control unit, control unit is obtained by echo gain compensation factor-temperature curve when pre-echo gain compensation factor, control unit obtains current conventional sensitivity by conventional sensitivity-temperature curve, and echo gain compensation factor is obtained compensated working sensitivity multiplied by current conventional sensitivity.
Description
Technical field
The invention belongs to car parking accessory system field, in particular to a kind of sensitivity compensation side of parking assisting system
Method.
Background technique
In recent years, with the process of vehicle industrialization, the volume of holding of domestic automobile persistently rises, and stops for only at present
Parking stall, often because the driving technology of driver is poor, bad human factors such as habit of parking lead to occur vehicle and deviate parking stall
Or situations such as occupying multiple parking stalls, this often gives the stop of other automobiles to increase difficulty, so that vehicle is caused to collide,
The accidents such as friction.For above situation, various intelligent parking auxiliary systems are come into being, but currently used for parking assisting system
Ultrasonic sensor in use, sensitivity is affected by temperature larger, and in low temperature, sensitivity becomes larger, and easily causes system
Erroneous judgement；When temperature is higher, sensitivity becomes smaller, and ranging cannot be met the requirements, and often will cause the regulation of parking assisting system sending
There are errors for instruction, thus reduce the quality of automatic parking.
Summary of the invention
The purpose of the present invention is to provide a kind of sensitivity compensation methods of parking assisting system, at different temperatures to super
Sonic sensor carries out sensitivity compensation, guarantees the accurate stability of parking assisting system.
To achieve the goals above, the present invention takes following technical scheme: a kind of sensitivity compensation of parking assisting system
Method includes the following steps: A, the sensitivity data that acquisition ultrasonic sensor changes with temperature in advance, obtains conventional spirit
Sensitivity-temperature curve；B, with the variation of temperature, ideal echo gain remains constant, obtains ideal ultrasonic sensor
Echo gain-temperature curve；C, conventional sensitivity-temperature curve and ideal echo gain-temperature curve are subjected to analysis comparison,
The echo gain compensation factor at a temperature of varying environment is calculated, obtains echo gain compensation factor-temperature curve；D, reality
In, the operating temperature that temperature sensor acquires ultrasonic sensor in real time is transferred to control unit, and control unit is by echo
Gain compensation factor-temperature curve show that, when pre-echo gain compensation factor, control unit is obtained by conventional sensitivity-temperature curve
Echo gain compensation factor is obtained compensated working sensitivity multiplied by current conventional sensitivity by current conventional sensitivity out.
In above-mentioned technical proposal, calculated in advance goes out echo gain compensation factor-temperature curve, is then input to and parks
The control unit of auxiliary system adds the operating temperature transmitting that temperature sensor acquires ultrasonic sensor in real time in practical application
To control unit, control unit analysis is obtained when pre-echo gain compensation factor and current conventional sensitivity, and the two is mutually multiplied
Out then ultrasonic sensor is adjusted in working sensitivity, it is ensured that the best precision data of current ultrasonic sensor feedback is protected
Demonstrate,prove the accurate stability of parking assisting system.
Detailed description of the invention
Fig. 1 is conventional sensitivity-temperature curve；
Fig. 2 is ideal echo gain-temperature curve；
Fig. 3 is echo gain compensation factor-temperature curve；
Fig. 4 is working sensitivity-temperature curve.
Specific embodiment
In conjunction with attached drawing, 1~4 couple of present invention is made further instructions:
A kind of sensitivity compensation method of parking assisting system, includes the following steps: A, acquires ultrasonic sensor in advance
The sensitivity data changed with temperature obtains conventional sensitivity-temperature curve；B, ultrasonic sensor with temperature change
Change, ideal echo gain remains constant, obtains ideal echo gain-temperature curve；C, by conventional sensitivity-temperature curve
Analysis comparison is carried out with ideal echo gain-temperature curve, the echo gain compensation factor at a temperature of varying environment is calculated,
Obtain echo gain compensation factor-temperature curve；D, in practical application, temperature sensor acquires the work of ultrasonic sensor in real time
It is transferred to control unit as temperature, control unit is obtained by echo gain compensation factor-temperature curve when pre-echo gain compensation
Coefficient, control unit obtain current conventional sensitivity by conventional sensitivity-temperature curve, by echo gain compensation factor multiplied by working as
Preceding routine sensitivity obtains compensated working sensitivity.Calculated in advance goes out echo gain compensation factor-temperature curve, then will
Its control unit for being input to parking assisting system adds temperature sensor in practical application and acquires ultrasonic sensor in real time
Operating temperature is transferred to control unit, and control unit analysis is obtained when pre-echo gain compensation factor and current conventional sensitivity,
The two multiplication is obtained into working sensitivity and then ultrasonic sensor is adjusted, it is ensured that current ultrasonic sensor feedback is best
Precision data guarantees the accurate stability of parking assisting system.
In the step B, the conventional sensitivity of ultrasonic sensor when ideal echo gain is always 25 DEG C.Such as Fig. 2
It is shown, it is obtained according to the work state information of prior acquisition ultrasonic sensor: when temperature is 25 DEG C, ultrasonic sensor
Sensitivity is optimum Working.
In the step C, ideal echo gain is obtained echo gain compensation system divided by conventional sensitivity by corresponding temperature
Number, to obtain echo gain compensation factor-temperature curve.As shown in figure 3, the echo gain compensation system come out for calculated in advance
System-temperature curve, corresponding temperature value makes to be multiplied when pre-echo gain compensation factor with current conventional sensitivity in practical applications
Working sensitivity is obtained, as shown in figure 4, working sensitivity-temperature curve and ideal echo gain-temperature curve are almost consistent.
Claims (2)
1. a kind of sensitivity compensation method of parking assisting system, includes the following steps:
A, the sensitivity data that acquisition ultrasonic sensor changes with temperature in advance, obtains conventional sensitivity-temperature curve；
B, with the variation of temperature, ideal echo gain remains constant, obtains ideal echo gain-temperature ultrasonic sensor
It writes music line；
C, conventional sensitivity-temperature curve and ideal echo gain-temperature curve are subjected to analysis comparison, different rings is calculated
Echo gain compensation factor at a temperature of border obtains echo gain compensation factor-temperature curve；By ideal echo under corresponding temperature
Gain obtains echo gain compensation factor divided by conventional sensitivity, to obtain echo gain compensation factor-temperature curve；
D, in parking assisting system use process, the operating temperature that temperature sensor acquires ultrasonic sensor in real time is transferred to control
Unit processed, control unit obtain by echo gain compensation factor-temperature curve when pre-echo gain compensation factor, control unit by
Conventional sensitivity-temperature curve obtains current conventional sensitivity, and echo gain compensation factor is obtained multiplied by current conventional sensitivity
Compensated working sensitivity out.
2. the sensitivity compensation method of parking assisting system according to claim 1, it is characterised in that: the step B
In, the conventional sensitivity of ultrasonic sensor when ideal echo gain is always 25 DEG C.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865290.XA CN107719360B (en) | 2017-09-22 | 2017-09-22 | The sensitivity compensation method of parking assisting system |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710865290.XA CN107719360B (en) | 2017-09-22 | 2017-09-22 | The sensitivity compensation method of parking assisting system |
Publications (2)
| Publication Number | Publication Date |
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| CN107719360A CN107719360A (en) | 2018-02-23 |
| CN107719360B true CN107719360B (en) | 2019-05-28 |
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| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710865290.XA Active CN107719360B (en) | 2017-09-22 | 2017-09-22 | The sensitivity compensation method of parking assisting system |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110703233B (en) * | 2019-10-17 | 2022-11-08 | 苏州优达斯汽车科技有限公司 | Temperature and humidity compensation method for sensitivity of ultrasonic sensor |
| CN112444271A (en) * | 2020-11-11 | 2021-03-05 | 许继集团有限公司 | Method for dynamically compensating measurement error in high-temperature and low-temperature environment |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10020958A1 (en) * | 2000-04-28 | 2001-10-31 | Valeo Schalter & Sensoren Gmbh | Parking aid with temperature compensation |
| CN102400808A (en) * | 2010-09-16 | 2012-04-04 | 通用汽车环球科技运作有限责任公司 | Calibration control systems and methods |
| KR20140044214A (en) * | 2012-10-04 | 2014-04-14 | 현대모비스 주식회사 | Apparatus and method for compensation of ultrasonic sensor |
| CN105629215A (en) * | 2014-10-27 | 2016-06-01 | 同致电子科技（厦门）有限公司 | Vehicle ultrasonic sensor correction method and system |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP4799631B2 (en) * | 2009-02-27 | 2011-10-26 | 株式会社日本自動車部品総合研究所 | Object detection device |
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2017
- 2017-09-22 CN CN201710865290.XA patent/CN107719360B/en active Active
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10020958A1 (en) * | 2000-04-28 | 2001-10-31 | Valeo Schalter & Sensoren Gmbh | Parking aid with temperature compensation |
| CN102400808A (en) * | 2010-09-16 | 2012-04-04 | 通用汽车环球科技运作有限责任公司 | Calibration control systems and methods |
| KR20140044214A (en) * | 2012-10-04 | 2014-04-14 | 현대모비스 주식회사 | Apparatus and method for compensation of ultrasonic sensor |
| CN105629215A (en) * | 2014-10-27 | 2016-06-01 | 同致电子科技（厦门）有限公司 | Vehicle ultrasonic sensor correction method and system |
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| Publication number | Publication date |
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| CN107719360A (en) | 2018-02-23 |
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